CN103187916A - Motor control system for electric fork-lift truck - Google Patents
Motor control system for electric fork-lift truck Download PDFInfo
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- CN103187916A CN103187916A CN2011104455074A CN201110445507A CN103187916A CN 103187916 A CN103187916 A CN 103187916A CN 2011104455074 A CN2011104455074 A CN 2011104455074A CN 201110445507 A CN201110445507 A CN 201110445507A CN 103187916 A CN103187916 A CN 103187916A
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Abstract
The invention discloses a motor control system for an electric fork-lift truck, which comprises a lifting control subsystem and a drive control subsystem, wherein the lifting control subsystem is used for controlling output power of a lifting motor of the electric fork-lift truck in order to adjust a working mode of the electric fork-lift truck, and comprises a first collection module, a first detection module and a first control module; the drive control subsystem is used for controlling output power of the drive control subsystem of the electric fork-lift truck in order to adjust a speed of the electric fork-lift truck, and comprises a second collection module, a second detection module and a second control module. The motor control system can control the lifting motor and a drive motor of the electric fork-lift truck, and meet a control requirement of the electric fork-lift truck.
Description
Technical field
The present invention relates to vehicle manufacturing and control technology field, particularly a kind of electric machine control system for electri forklift.
Background technology
Traditional motor vehicle adopts direct current machine to drive.But the efficient of direct current machine own is low, and volume and quality are all big, thereby causes rotating speed not high, and cost is higher.AC Driving System is applied on the electri forklift gradually owing to its production efficiency height, maintenance cost are low.
Wherein, AC permanent magnet synchronous motor will be better than traditional direct current machine, synchronous machine, induction machine and brshless DC motor widely on operation characteristic and control mode, but present stage does not also have the drive scheme at AC permanent magnet synchronous motor.
Summary of the invention
Purpose of the present invention is intended to solve at least one of above-mentioned technological deficiency, proposes a kind of electric machine control system for electri forklift especially, and this system can realize the control to lifting motor and the drive motors of electri forklift, satisfies the control requirement of electri forklift.
For achieving the above object, the embodiment of a first aspect of the present invention proposes a kind of electric machine control system for electri forklift, comprise: control subsystem hoists, be used for the power output of lifting motor of the described electri forklift of control to adjust the mode of operation of described electri forklift, wherein, the described control subsystem that hoists comprises: first acquisition module, the door frame altitude signal that is used for gathering described electri forklift, the door frame tilt signals, the door frame signal that leans forward, door frame hypsokinesis signal, the door frame signal that hoists, lifting motor excess temperature signal, radiator excess temperature signal, switching value signal and door frame inclination angle signal; Whether first detection module is used for breaking down according to described lifting motor excess temperature signal and radiator excess temperature input electri forklift; First control module, be used for when described first detection module detects described electri forklift and breaks down, control described electri forklift and carry out stop mode and send warning, and the power of described lifting motor is set to adjust the mode of operation of described electri forklift according to described door frame altitude signal, door frame tilt signals, door frame hoist signal, switching value signal and the door frame inclination angle signal of signal, door frame hypsokinesis signal, door frame that lean forward; And driving control subsystem, be used for the power output of driving control subsystem of the described electri forklift of control to adjust the speed of a motor vehicle of described electri forklift, wherein, described driving control subsystem comprises: second acquisition module, be used for gathering drive motors excess temperature signal, radiator excess temperature signal, door frame limit switch signal, load weight signal and the turn signal of described electri forklift, wherein, communicate between described first acquisition module and described second acquisition module; Whether second detection module is used for breaking down according to described drive motors excess temperature signal and radiator excess temperature input electri forklift; Second control module, whether the door frame that is used for detecting according to described door frame limit switch signal described electri forklift is promotion, and according to described load weight input whether load is arranged, when the door frame promotion that detects described electri forklift and when load is arranged, control the power output of described driving control subsystem to adjust the speed of a motor vehicle of described electri forklift.
The electric machine control system that is used for electri forklift according to the embodiment of the invention, can be according to the requirement of the driving of the permagnetic synchronous motor of electri forklift, based on vector control method, realize the control requirement of electri forklift is satisfied in the control of lifting motor and the drive motors of electri forklift.
The aspect that the present invention adds and advantage part in the following description provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or the additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment below in conjunction with accompanying drawing, wherein:
Fig. 1 is the structured flowchart according to the electric machine control system that is used for electri forklift of the embodiment of the invention;
Fig. 2 is the control flow chart according to the lifting motor of the embodiment of the invention;
Fig. 3 is the control flow chart according to the drive motors of the embodiment of the invention;
Fig. 4 is the schematic diagram according to the electric machine control system control motor of the embodiment of the invention; And
Fig. 5 is the Electric Machine Control process schematic diagram according to the embodiment of the invention.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical or similar label is represented identical or similar elements or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the present invention, and can not be interpreted as limitation of the present invention.
Disclosing hereinafter provides many different embodiment or example to be used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter parts and the setting to specific examples is described.Certainly, they only are example, and purpose does not lie in restriction the present invention.In addition, the present invention can be in different examples repeat reference numerals and/or letter.This repetition is in order to simplify and purpose clearly, itself not indicate the relation between the various embodiment that discuss of institute and/or the setting.In addition, various specific technology and the examples of material that the invention provides, but those of ordinary skills can recognize the property of can be applicable to of other technologies and/or the use of other materials.In addition, first feature described below second feature it " on " structure can comprise that first and second features form the embodiment of direct contact, can comprise that also additional features is formed on the embodiment between first and second features, such first and second features may not be direct contacts.
In description of the invention, need to prove, unless otherwise prescribed and limit, term " installation ", " linking to each other ", " connection " should be done broad understanding, for example, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly to link to each other, and also can link to each other indirectly by intermediary, for the ordinary skill in the art, can understand the concrete implication of above-mentioned term as the case may be.
With reference to following description and accompanying drawing, these and other aspects of embodiments of the invention will be known.These describe and accompanying drawing in, some specific implementations in the embodiments of the invention are specifically disclosed, represent to implement some modes of the principle of embodiments of the invention, still should be appreciated that the scope of embodiments of the invention is not limited.On the contrary, embodiments of the invention comprise spirit and interior all changes, modification and the equivalent of intension scope that falls into institute's additional claims.
Below with reference to the electric machine control system that be used for electri forklift of Fig. 1 description according to the embodiment of the invention.Wherein, the electric machine control system that the embodiment of the invention provides can communicate with the miscellaneous part of electri forklift, for example: the instrument on the electri forklift and battery etc.
As shown in Figure 1, the electric machine control system 1000 that is used for electri forklift of the embodiment of the invention comprises: the control subsystem that hoists 100 and driving control subsystem 200.Wherein, the control subsystem that hoists 100 is used for the power output of lifting motor of the described electri forklift of control to adjust the mode of operation of electri forklift, drives control subsystem 200 and is used for the power output of driving control subsystem of control electri forklift to adjust the speed of a motor vehicle of electri forklift.Particularly, the control subsystem 100 that hoists comprises first acquisition module 110, first detection module 120 and first control module 130.Wherein, door frame altitude signal, door frame tilt signals, the door frame that first acquisition module 110 is used for gathering electri forklift lean forward signal, door frame hypsokinesis signal, door frame hoist signal, lifting motor excess temperature signal, radiator excess temperature signal, switching value signal and door frame inclination angle signal, whether first detection module 120 is used for breaking down according to lifting motor excess temperature signal and radiator excess temperature input electri forklift; First control module 130 is used for when first detection module 120 detection electri forklifts break down, the control electri forklift is carried out stop mode and is also sent warning, and establishes the power of described lifting motor to adjust the mode of operation of electri forklift according to door frame altitude signal, door frame tilt signals, door frame hoist signal, switching value signal and the door frame inclination angle signal of signal, door frame hypsokinesis signal, door frame that lean forward.Drive control subsystem 200 and be used for the power output of driving control subsystem of control electri forklift to adjust the speed of a motor vehicle of electri forklift.Wherein, driving control subsystem 200 comprises: second acquisition module 210, second detection module 220 and second control module 230.Wherein, second acquisition module 210 is used for gathering drive motors excess temperature signal, radiator excess temperature signal, door frame limit switch signal, load weight signal and the turn signal of electri forklift, wherein, can communicate between first acquisition module 110 and second acquisition module 210.Whether second detection module 220 is used for breaking down according to drive motors excess temperature signal and radiator excess temperature input electri forklift, whether the door frame that second control module 230 is used for according to door frame limit switch signal detection electri forklift is promotion, and according to the load weight input whether load is arranged, when the door frame promotion that detects electri forklift and when load is arranged, control drives the power output of control subsystem to adjust the speed of a motor vehicle of electri forklift.
In one embodiment of the invention, the control subsystem that hoists 100 and driving control subsystem 200 can be DSP (Digital Signal Processor, digital signal processor).Wherein, DSP can adopt the chip of the TM320F2812 model of TI company.
In one embodiment of the invention, hoist first acquisition module 110 of control subsystem 100 and second acquisition module 210 that drives control subsystem 200 can communicate by the CAN bus.
First acquisition module 110 also is used for gathering A phase and B phase current, voltage acquisition signal, the pressure stop signal of drive motors and the rotor signal of lifting motor of door frame Automatic Levelling signal, load capacity signal, lifting motor.When first acquisition module 110 collected the pressure stop signal of drive motors, the mode of operation that first control module 130 arranges electri forklift was stop mode.
Control the mode of operation of electri forklift below according to the action of lifting motor.
(1) stop mode
When the inoperation lifting motor, electri forklift is carried out stop mode.
(2) pattern that leans forward
When the tilt operation bar is dialled when turning forward the position, first acquisition module 110 can collect the door frame signal that leans forward, then first control module 130 can lean forward input to the switching value that leans forward according to this door frame, thereby the mode of operation that electri forklift can be set is the pattern of leaning forward, and the power that lifting motor is set is the power corresponding with the pattern of leaning forward.
(3) hypsokinesis pattern
When the tilt operation bar is dialled when retreating the position, first acquisition module 110 can collect door frame hypsokinesis signal, then first control module 130 can detect the hypsokinesis switching value, thereby the mode of operation that electri forklift can be set is the hypsokinesis pattern, and the power that lifting motor is set is the power corresponding with the hypsokinesis pattern.
(4) pattern that hoists
When the action bars that hoists is dialled when hoisting the position, first acquisition module 110 collects the door frame signal that hoists, and then first control module 130 mode of operation that electri forklift is set is the pattern of hoisting, and the power that lifting motor is set is the power corresponding with the pattern of hoisting.
(5) tilt mode that hoists
When the action bars that hoists is dialled to the position that hoists, simultaneously the tilt operation bar leans forward or during hypsokinesis, then first acquisition module 110 can be examined and collect door frame hoist signal, door frame lean forward signal or door frame hypsokinesis signal, then first control module 130 mode of operation that electri forklift is set is the tilt mode that hoists, and the power that lifting motor is set is the power corresponding with the tilt mode that hoists.
In an enforcement of the present invention, first control module 130 also is used for the moment of torsion of control lifting motor to regulate the power of lifting motor.Particularly, the entire car controller of electri forklift instructs to first control module, 130 transmission speeds.If the present speed of first control module 130 has surpassed the engine start speed of appointment, then first control module 130 can be clamped down on the speed of lifting motor within the range of permission.Particularly, first control module, 130 control rings are regulated the control torque of lifting motor so that lifting motor operates in the speed of appointment.Need to prove that above-mentioned control torque can not become negative value.If lifting motor is driven to the power higher than the speed of appointment, then can to clamp down on be 0 to control torque.
In one embodiment of the invention, whether second detection module 220 also is triggered for detection of the OPS (Operator presence sensing, there is induction system in the operator) of electri forklift.If OPS is triggered, then controls electri forklift and carry out stop mode.
If the electric weight of vehicle is crossed low or the single-unit brownout, then the battery manager of electri forklift sends the electric weight alarm signals by the CAN bus to hoist control subsystem 100 and driving control subsystem 200.The control subsystem that hoists 100 is not worked according to this electric weight alarm signal control lifting motor, becomes to reach the purpose that the restriction vehicle travels thereby drive control subsystem 200 simultaneously according to this electric weight alarm signal control power output.
In one embodiment of the invention, second acquisition module 210 also is used for gathering throttle signal, and second control module 230 also is used for adjusting according to this throttle signal the moment of torsion of drive motors.Particularly, entire car controller is by the demand torque instruction of CAN bus to second control module, 230 output drive motors.If the Motor torque of the demand torque that second control module 230 receives instruction surpasses the peak torque of drive motors, then this moment of torsion can be clamped down on and is maximum torque.In order to offset back electromotive force to the influence of motor, when high speed, use field weakening control method to reach the moment of torsion of demand.Particularly, the control ring of second control module 230 is regulated moment of torsion and is remained to designated value.Need to prove that above-mentioned control torque can not become negative value.If demand torque instruction makes the drive motors counter-rotating, driving then that control subsystem 200 control torques can clamp down on is 0.
Below in conjunction with Fig. 2 the control flow of the 100 couples of lifting motor MG1 of control subsystem that hoist is described.
Step S201, first acquisition module 110 is gathered the car load signal.
Wherein, the car load signal comprises door frame altitude signal, door frame tilt signals, door frame Automatic Levelling signal, door frame lean forward signal, door frame hypsokinesis signal, door frame hoist motor excess temperature signal, radiator excess temperature signal, the switching value signal of signal, lifting motor MG1, and the A of door frame inclination angle signal, load weight signal, lifting motor MG1 mutually and the rotor signal of analog signals such as B phase current, voltage acquisition signal and lifting motor MG1
Step S202 judges whether abnormal alarm of lifting motor MG1 self, if having, and execution in step S203 then, otherwise execution in step S204.
First detection module 120 judges according to IPM guard signal, IPM radiator overheat protector signal and motor excess temperature signal whether vehicle breaks down.If have, execution in step S203 then, vehicle is stop mode, the person is not if then normally carry out.
Step S203, electri forklift is carried out stop mode and is sent abnormal alarm.
Step S204 judges whether drive motors MG2 sends pressure to lifting motor MG1 and cease and desist order, if having, then execution in step S206 denys person's execution in step 205.
Step S205 is according to the mode of operation of tilt operation bar and the action bars judgement electri forklift that hoists.
When the tilt operation bar is dialled when turning forward the position execution in step S207.When the tilt operation bar is dialled when retreating the position execution in step S208.When the action bars that hoists is dialled when hoisting the position execution in step S209.When the action bars that hoists is dialled to the position that hoists, the tilt operation bar leans forward or during hypsokinesis simultaneously, execution in step S210.
Step S206, electri forklift is carried out stop mode.
Step S207, electri forklift is carried out the pattern that leans forward.
When the tilt operation bar is dialled when turning forward the position, first acquisition module 110 can collect the door frame signal that leans forward, then first control module 130 can lean forward input to the switching value that leans forward according to this door frame, thereby the mode of operation that electri forklift can be set is the pattern of leaning forward, and the power that lifting motor is set is the power corresponding with the pattern of leaning forward.
Step S208, electri forklift is carried out the hypsokinesis pattern.
When the tilt operation bar is dialled when retreating the position, first acquisition module 110 can collect door frame hypsokinesis signal, then first control module 130 can detect the hypsokinesis switching value, thereby the mode of operation that electri forklift can be set is the hypsokinesis pattern, and the power that lifting motor is set is the power corresponding with the hypsokinesis pattern.
Step S209, electri forklift is carried out the pattern that hoists.
When the action bars that hoists is dialled when hoisting the position, first acquisition module 110 collects the door frame signal that hoists, and then first control module 130 mode of operation that electri forklift is set is the pattern of hoisting, and the power that lifting motor is set is the power corresponding with the pattern of hoisting.
Step S210, electri forklift is carried out the tilt mode that hoists.
When the action bars that hoists is dialled to the position that hoists, simultaneously the tilt operation bar leans forward or during hypsokinesis, then first acquisition module 110 can be examined and collect door frame hoist signal, door frame lean forward signal or door frame hypsokinesis signal, then first control module 130 mode of operation that electri forklift is set is the tilt mode that hoists, and the power that lifting motor is set is the power corresponding with the tilt mode that hoists.
In one embodiment of the invention, under each pattern, detect " knob " switch, door frame altitude signal, gantry angle signal, pallet fork loading capacity signal, further determine mode of operation according to above-mentioned signal, and set the target power of lifting motor.According to the mode of operation of the lifting motor MG1 that determines and the grade of target power, the target power of lifting motor is set.
Below in conjunction with Fig. 3 the control flow that drives 200 couples of drive motors MG2 of control subsystem is described.
Step S301, second acquisition module is gathered the car load signal.
Wherein, the car load signal comprises the switching value signals such as motor excess temperature of service brake signal, gear signal, Oil Switch signal, seating pressure signal, radiator excess temperature signal, prefilled signal, drive motors MG2, and the busbar voltage of drive motors MG2 is gathered MG2A phase and B phase current and the rotor-position signal of analog signalses such as signal, throttle signal, brake signal, drive motors.Wherein, gear signal is used to indicate the gear that advances, neutral and retreats gear.
Step S302 has judged whether catastrophe failure,, if having, then execution in step S303 denys person's execution in step S304.
Whether second detection module 220 breaks down if judge vehicle according to IPM guard signal, IPM radiator overheat protector signal and motor excess temperature signal. have, then execution in step S303, not person's execution in step S304.
Step S303, electri forklift is carried out the concurrent alarm signal that is out of order of stop mode.
Step S304 judges whether to have triggered the OPS system, if then execution in step S305 denys person's execution in step S306.
Step S305, electri forklift is carried out stop mode.
Step S306 judges whether to send the electric weight alarm signal, if then execution in step S307 denys person's execution in step S308.
When the electric weight of electri forklift is crossed low or the single-unit brownout, then battery manager by the CAN bus to hoisting control subsystem 100 and drive control subsystem 200 and send the electric weight alarm signals.The control subsystem that hoists 100 is not worked according to this electric weight alarm signal control lifting motor, becomes to reach the purpose that the restriction vehicle travels thereby drive control subsystem 200 simultaneously according to this electric weight alarm signal control power output.
Step S307, restriction drives the power output of control subsystem.
Electri forklift is carried out drive pattern.Under drive pattern, drive control subsystem 200 restriction power outputs so that drive motors MG2 limit power drive electri forklift.Step S308 judges whether high rise and overweight of door frame, if, then execution in step S309, not person's execution in step S310.
It is high lift or low lift that second control module 230 can detect door frame by detection door frame limit switch signal, and by load transducer test load state.If second control module 230 detects door frame for high rise and load is arranged, then limit power output, thereby reach the purpose of the max. speed of restriction vehicle.
Step S309 is according to the power output of weight limits driving control subsystem.
According to the detected loaded-up condition of load transducer, obtain load weight.And according to this load weight restriction drives the power output of control subsystem.At this moment, electri forklift is carried out drive pattern.Under drive pattern, drive control subsystem 200 restriction power outputs so that drive motors MG2 limit power drive electri forklift.
Step S310 arranges the moment of torsion of drive motors according to throttle signal.
Entire car controller is by the demand torque instruction of CAN bus to second control module, 230 output drive motors.If the Motor torque of the demand torque that second control module 230 receives instruction surpasses the peak torque of drive motors, then this moment of torsion can be clamped down on and is maximum torque.In order to offset back electromotive force to the influence of motor, when high speed, use field weakening control method to reach the moment of torsion of demand.Particularly, the control ring of second control module 230 is regulated moment of torsion and is remained to designated value.Need to prove that above-mentioned control torque can not become negative value.If demand torque instruction makes the drive motors counter-rotating, driving then that control subsystem 200 control torques can clamp down on is 0.
Drive motors subsystem 200 power output without limits need to prove, if then can normally be controlled vehicle according to throttle, brake, gear and travel.
In one embodiment of the invention, drive control subsystem and also comprise the abnormality processing module, be used for occurring skidding at vehicle, when overload, stall, handle unusually above-mentioned, and drive motors is carried out open-phase protection.
In one embodiment of the invention, can be three kinds of patterns with the power setting of motor, every kind of corresponding power grade of pattern is respectively:
(1) the big dynamic mode of H pattern: High-
Under the H pattern, the lowest power of lifting motor is 13KW.
(2) P pattern: Power-strong power pattern
Under the P pattern, the lowest power of lifting motor is 12KW.
(3) S pattern: Standard-mode standard
Under the S pattern, the lowest power of lifting motor is 11KW.
When the mode of operation of electri forklift for the pattern of hoisting or when hoisting tilt mode, the power grade that lifting motor is set is the H pattern.
When the mode of operation of electri forklift during for the pattern of leaning forward or hypsokinesis pattern, the power grade that lifting motor is set is the S pattern.Wherein, under the pattern of leaning forward or hypsokinesis pattern, the power of lifting motor can be 10KW, 9KW or 8KW.Be understandable that, the power of above-mentioned lifting motor only for exemplary purposes, rather than in order to limit the present invention.Under incline pattern or hypsokinesis pattern, the power of lifting motor also can be other performance numbers less than 11KW.
When the mode of operation of electri forklift was drive pattern, the power grade that drive motors is set was H pattern, P pattern or S pattern.Wherein, under drive pattern, when the power grade of drive motors was the H pattern, the power of drive motors can be 14KW.Under drive pattern, when the power grade of drive motors was the P pattern, the power of drive motors can be 12KW.Under drive pattern, when the power grade of drive motors was the S pattern, the power of drive motors can be 10KW.Be understandable that, the power of above-mentioned lifting motor only for exemplary purposes, rather than in order to limit the present invention.
The schematic diagram of controlling motor according to the electric machine control system of the embodiment of the invention is described below with reference to Fig. 4.
As shown in Figure 4, electric machine control system 1000 is gathered analog signals such as busbar voltage, two-phase current, motor temperature.Then above-mentioned analog signal is amplified through analog channel filtering, send into the dsp chip of hoist control subsystem 100 and driving control subsystem 200 through becoming digital signal after the analog/digital conversion again.Revolve and become the dsp chip that decoding chip is sent to the rotor-position of lifting motor MG1 and drive motors MG2 hoist control subsystem 100 and driving control subsystem 200.Switching values such as gear signal, preliminary filling signal, motor excess temperature signal and radiator excess temperature signal are through being sent to the IO mouth of hoist control subsystem 100 and the dsp chip that drives control subsystem 200 after the light-coupled isolation.DSP adopts coordinate transform, PI to regulate scheduling algorithm input signal is handled, and generates six tunnel pwm signals that have a dead band respectively, sends into corresponding driver module.
Particularly, the control subsystem that hoists 100 generations six tunnel have first group of pwm signal in dead band, and this first group of pwm signal is sent to the lifting motor driver module.By the lifting motor driver module the first group of pwm signal that receives carried out the strong and weak electricity isolation and various protective circuits are provided.Wherein, protective circuit comprises under-voltage protection, overcurrent protection, overheat protector and short-circuit protection.In addition, the lifting motor driver module also is used to control subsystem 100 inside that hoist that power supply is provided, and the work of driving power device, thereby realizes the conversion of direct current with the alternating current that drives lifting motor MG1 of battery reserve, the operation of control lifting motor MG1.
Drive second group of pwm signal that control subsystem 200 generations six tunnel have the dead band, and this second group of pwm signal is sent to the drive motors driver module.By the drive motors driver module the second group of pwm signal that receives carried out the light current isolation and various protective circuits are provided.Wherein, protective circuit comprises under-voltage protection, overcurrent protection, overheat protector and short-circuit protection.In addition, the drive motors driver module also is used to driving control subsystem 200 inside that power supply is provided, and driving power device work, thereby realize the conversion of direct current with the alternating current that drive motors MG2 is driven of battery reserve, the operation of control drive motors MG2.
As shown in Figure 5, speed command signal and detected spinner velocity signal are carried out the PI adjusting, through the adjusting of speed control, output q shaft current command signal is as the given signal of q shaft current controller.The given signal of d shaft current controller is 0.The threephase stator electric current that current sample obtains turns to a-b coordinate system biphase current by the Clark conversion, after the Park conversion, is converted to the current value of d-q rotating coordinate system, imports as the feedback of d axle and q shaft current adjuster respectively.Deviation between the given and feedback of d axle and q shaft current is input to the current controller of d axle and q axle respectively, through output voltage after the adjusting of controller, inverse transformation is converted to a-b coordinate system shaft voltage respectively through Park again, modulation SVPWM (Space Vector Pulse Width Modulation, space vector pulse width modulation) output six road PWM, ((Insulated Gate Bipolar Transistor, insulated gate bipolar transistor) produces frequency and the variable three phase sine electric current input motor of amplitude to drive IGBT.Position signalling or the rate signal of rotor need be provided by the rotor flux linkage orientation motor vector control system of motor.
The electric machine control system that is used for electri forklift according to the embodiment of the invention, can be according to the requirement of the driving of the permagnetic synchronous motor of electri forklift, based on vector control method, realization is to the control of lifting motor and the drive motors of electri forklift, for example realize the detection to faults such as electric current, motor position, speed, pallet fork weight, angles of inclination, thereby can satisfy the control requirement of electri forklift.
Describe and to be understood that in the flow chart or in this any process of otherwise describing or method, expression comprises module, fragment or the part of code of the executable instruction of the step that one or more is used to realize specific logical function or process, and the scope of preferred implementation of the present invention comprises other realization, wherein can be not according to order shown or that discuss, comprise according to related function by the mode of basic while or by opposite order, carry out function, this should be understood by the embodiments of the invention person of ordinary skill in the field.
In flow chart the expression or in this logic of otherwise describing and/or step, for example, can be considered to the sequencing tabulation for the executable instruction that realizes logic function, may be embodied in any computer-readable medium, use for instruction execution system, device or equipment (as the computer based system, comprise that the system of processor or other can be from the systems of instruction execution system, device or equipment instruction fetch and execution command), or use in conjunction with these instruction execution systems, device or equipment.With regard to this specification, " computer-readable medium " can be anyly can comprise, storage, communication, propagation or transmission procedure be for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically of computer-readable medium (non-exhaustive list) comprises following: the electrical connection section (electronic installation) with one or more wirings, portable computer diskette box (magnetic device), random-access memory (ram), read-only memory (ROM), can wipe and to edit read-only memory (EPROM or flash memory), fiber device, and portable optic disk read-only memory (CDROM).In addition, computer-readable medium even can be paper or other the suitable media that to print described program thereon, because can be for example by paper or other media be carried out optical scanner, then edit, decipher or handle to obtain described program in the electronics mode with other suitable methods in case of necessity, then it is stored in the computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, a plurality of steps or method can realize with being stored in the memory and by software or firmware that suitable instruction execution system is carried out.For example, if realize with hardware, the same in another embodiment, in the available following technology well known in the art each or their combination realize: have for the discrete logic of data-signal being realized the logic gates of logic function, application-specific integrated circuit (ASIC) with suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that and realize that all or part of step that above-described embodiment method is carried is to instruct relevant hardware to finish by program, described program can be stored in a kind of computer-readable recording medium, this program comprises one of step or its combination of method embodiment when carrying out.
In addition, each functional unit in each embodiment of the present invention can be integrated in the processing module, also can be that the independent physics in each unit exists, and also can be integrated in the module two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, also can adopt the form of software function module to realize.If described integrated module realizes with the form of software function module and during as independently production marketing or use, also can be stored in the computer read/write memory medium.
The above-mentioned storage medium of mentioning can be read-only memory, disk or CD etc.
In the description of this specification, concrete feature, structure, material or characteristics that the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example description are contained at least one embodiment of the present invention or the example.In this manual, the schematic statement to above-mentioned term not necessarily refers to identical embodiment or example.And concrete feature, structure, material or the characteristics of description can be with the suitable manner combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, modification, replacement and modification to these embodiment that scope of the present invention is by claims and be equal to and limit.
Claims (10)
1. an electric machine control system that is used for electri forklift is characterized in that, comprising:
The control subsystem that hoists is used for the power output of lifting motor of the described electri forklift of control to adjust the mode of operation of described electri forklift, and wherein, the described control subsystem that hoists comprises:
First acquisition module, door frame altitude signal, door frame tilt signals, door frame that be used for to gather described electri forklift lean forward signal, door frame hypsokinesis signal, door frame hoist signal, lifting motor excess temperature signal, radiator excess temperature signal, switching value signal and door frame inclination angle signal;
Whether first detection module is used for breaking down according to described lifting motor excess temperature signal and radiator excess temperature input electri forklift;
First control module, be used for when described first detection module detects described electri forklift and breaks down, control described electri forklift and carry out stop mode and send warning, and the power of described lifting motor is set to adjust the mode of operation of described electri forklift according to described door frame altitude signal, door frame tilt signals, door frame hoist signal, switching value signal and the door frame inclination angle signal of signal, door frame hypsokinesis signal, door frame that lean forward; And
Drive control subsystem, be used for the power output of driving control subsystem of the described electri forklift of control to adjust the speed of a motor vehicle of described electri forklift, wherein, described driving control subsystem comprises:
Second acquisition module, be used for gathering drive motors excess temperature signal, radiator excess temperature signal, door frame limit switch signal, load weight signal and the turn signal of described electri forklift, wherein, communicate between described first acquisition module and described second acquisition module;
Whether second detection module is used for breaking down according to described drive motors excess temperature signal and radiator excess temperature input electri forklift;
Second control module, whether the door frame that is used for detecting according to described door frame limit switch signal described electri forklift is promotion, and according to described load weight input whether load is arranged, when the door frame promotion that detects described electri forklift and when load is arranged, control the power output of described driving control subsystem to adjust the speed of a motor vehicle of described electri forklift.
2. electric machine control system as claimed in claim 1 is characterized in that,
When described first acquisition module collects described door frame when leaning forward signal, then described first control module mode of operation that described electri forklift is set is the pattern of leaning forward;
When described first acquisition module collected described door frame hypsokinesis signal, then the mode of operation of described electri forklift is set was the hypsokinesis pattern to described first control module;
When described first acquisition module collects described door frame when hoisting signal, then described first control module mode of operation that described electri forklift is set is the pattern of hoisting;
Hoist signal and described door frame when leaning forward signal or described door frame hypsokinesis signal when described first acquisition module collects described door frame, and then described first control module mode of operation that described electri forklift is set is the tilt mode that hoists.
3. electric machine control system as claimed in claim 1, it is characterized in that described first acquisition module also is used for gathering B phase current, voltage acquisition signal, the pressure stop signal of described drive motors and the rotor signal of described lifting motor of door frame Automatic Levelling signal, load weight signal, the A phase current of described lifting motor, described lifting motor.
4. electric machine control system as claimed in claim 3 is characterized in that, when described first acquisition module collected the pressure stop signal of described drive motors, the mode of operation that described first control module arranges described electri forklift was stop mode.
5. electric machine control system as claimed in claim 1 is characterized in that, described first control module also is used for the moment of torsion of the described lifting motor of control to regulate the power of described lifting motor.
6. electric machine control system as claimed in claim 1 is characterized in that, described first acquisition module and described second acquisition module communicate by the CAN bus.
7. electric machine control system as claimed in claim 1 is characterized in that, whether described second detection module also exists induction system to be triggered for detection of the operator of described electri forklift,
Described second control module is used for when the operator of described electri forklift exists induction system to be triggered, and controls described electri forklift and carries out stop mode.
8. electric machine control system as claimed in claim 1 is characterized in that, described first control module also is used for receiving the electric weight alarm signal from the battery manager transmission of described electri forklift, and controls described lifting motor and carry out stop mode;
Described second control module also be used for to receive the electric weight alarm signal from the battery manager of described electri forklift, and the power output of controlling described driving control subsystem is to adjust the speed of a motor vehicle of described electri forklift.
9. electric machine control system as claimed in claim 1 is characterized in that, described second acquisition module also is used for gathering throttle signal,
Described second control module also is used for adjusting according to described throttle signal the moment of torsion of described drive motors.
10. electric machine control system as claimed in claim 1 is characterized in that, described first control module and described second control module can be digital signal processor DSP.
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| CN201110445507.4A CN103187916B (en) | 2011-12-27 | 2011-12-27 | Motor control system for electric fork-lift truck |
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| CN201110445507.4A CN103187916B (en) | 2011-12-27 | 2011-12-27 | Motor control system for electric fork-lift truck |
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| CN105347266A (en) * | 2015-12-17 | 2016-02-24 | 吉林大学 | Fork lifting controller for electric lift truck based on FPGA |
| CN106533307A (en) * | 2016-12-28 | 2017-03-22 | 南京理工大学 | Permanent magnet synchronous motor vector decoupling controller for electromobile based on DSP (Digital Signal Processor) |
| CN107332481A (en) * | 2017-08-17 | 2017-11-07 | 深圳市高科润电子有限公司 | A kind of new car seat motor control system and its control method |
| CN107697857A (en) * | 2017-10-13 | 2018-02-16 | 安徽全柴集团有限公司 | Switched reluctance machines fork truck |
| CN107697858A (en) * | 2017-10-13 | 2018-02-16 | 安徽全柴集团有限公司 | A kind of switched reluctance machines forklift operator system |
| CN109867236A (en) * | 2019-01-11 | 2019-06-11 | 芜湖智久机器人有限公司 | A kind of fork truck yoke control system and method |
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| WO2021227343A1 (en) * | 2020-05-11 | 2021-11-18 | 卧龙电气驱动集团股份有限公司 | Permanent magnet synchronous motor capable of performing stalling and phase loss protection, and protection method therefor |
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| CN105347266A (en) * | 2015-12-17 | 2016-02-24 | 吉林大学 | Fork lifting controller for electric lift truck based on FPGA |
| CN106533307A (en) * | 2016-12-28 | 2017-03-22 | 南京理工大学 | Permanent magnet synchronous motor vector decoupling controller for electromobile based on DSP (Digital Signal Processor) |
| CN107332481A (en) * | 2017-08-17 | 2017-11-07 | 深圳市高科润电子有限公司 | A kind of new car seat motor control system and its control method |
| CN107332481B (en) * | 2017-08-17 | 2023-07-18 | 深圳市高科润电子有限公司 | Novel automobile seat motor control system and control method thereof |
| CN107697857A (en) * | 2017-10-13 | 2018-02-16 | 安徽全柴集团有限公司 | Switched reluctance machines fork truck |
| CN107697858A (en) * | 2017-10-13 | 2018-02-16 | 安徽全柴集团有限公司 | A kind of switched reluctance machines forklift operator system |
| CN109941925A (en) * | 2017-12-21 | 2019-06-28 | 比亚迪股份有限公司 | Fork truck |
| CN109941925B (en) * | 2017-12-21 | 2020-07-10 | 比亚迪股份有限公司 | Forklift truck |
| CN109867236A (en) * | 2019-01-11 | 2019-06-11 | 芜湖智久机器人有限公司 | A kind of fork truck yoke control system and method |
| CN110963442A (en) * | 2019-09-25 | 2020-04-07 | 郑州嘉晨电器有限公司 | Control method for safe lifting operation of industrial vehicle |
| WO2021227343A1 (en) * | 2020-05-11 | 2021-11-18 | 卧龙电气驱动集团股份有限公司 | Permanent magnet synchronous motor capable of performing stalling and phase loss protection, and protection method therefor |
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